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Version 2.1.4: Switch to GLAD, minor improvements to simulate.

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PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
This commit is contained in:
Saran Tunyasuvunakool
2022-04-04 13:53:21 +01:00
parent 3c71720d83
commit 90dea1bdfb
23 changed files with 270 additions and 298 deletions
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sample/Makefile
+7 -7
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@@ -5,12 +5,12 @@
COMMON=-O2 -I../include -L../lib -std=c++11 -pthread -Wl,-rpath,'$$ORIGIN'/../lib
all:
$(CXX) $(COMMON) testxml.cc -lmujoco_nogl -o ../bin/testxml
$(CXX) $(COMMON) testspeed.cc -lmujoco_nogl -o ../bin/testspeed
$(CXX) $(COMMON) compile.cc -lmujoco_nogl -o ../bin/compile
$(CXX) $(COMMON) derivative.cc -lmujoco_nogl -fopenmp -o ../bin/derivative
$(CXX) $(COMMON) basic.cc -lmujoco -lGL -lglew -lglfw -o ../bin/basic
$(CXX) $(COMMON) record.cc -lmujoco -lGL -lglew -lglfw -o ../bin/record
$(CXX) $(COMMON) testxml.cc -lmujoco -o ../bin/testxml
$(CXX) $(COMMON) testspeed.cc -lmujoco -o ../bin/testspeed
$(CXX) $(COMMON) compile.cc -lmujoco -o ../bin/compile
$(CXX) $(COMMON) derivative.cc -lmujoco -fopenmp -o ../bin/derivative
$(CXX) $(COMMON) basic.cc -lmujoco -lGL -lglfw -o ../bin/basic
$(CXX) $(COMMON) record.cc -lmujoco -lGL -lglfw -o ../bin/record
$(CC) -c -O2 -I../include uitools.c
$(CXX) $(COMMON) uitools.o simulate.cc -lmujoco -lGL -lglew -lglfw -o ../bin/simulate
$(CXX) $(COMMON) uitools.o simulate.cc -lmujoco -lGL -lglfw -o ../bin/simulate
rm *.o
sample/Makefile.macos
+12 -10
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@@ -2,20 +2,22 @@
# packages are installed in /usr/local. If your setup is different, you will
# need to adjust the HOMEBREW variable accordingly.
# This Makefile also assumes that MuJoCo.app is present in /Applications.
HOMEBREW?=/usr/local
MUJOCO_LIBDIR=../MuJoCo.Framework/Versions/A
MUJOCO_INCLUDEDIR=../MuJoCo.Framework/Versions/A/Headers
MUJOCO_LIBDIR=/Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.Framework/Versions/A
MUJOCO_INCLUDEDIR=/Applications/MuJoCo.app/Contents/Frameworks/MuJoCo.Framework/Versions/A/Headers
CFLAGS=-O2 -I$(MUJOCO_INCLUDEDIR) -I$(HOMEBREW)/include -pthread
ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++
ALLFLAGS=$(CFLAGS) -L$(MUJOCO_LIBDIR) -L$(HOMEBREW)/lib -std=c++11 -stdlib=libc++ -Wl,-rpath,/Applications/MuJoCo.app/Contents/Frameworks
all:
clang++ $(ALLFLAGS) testxml.cc -lmujoco.2.1.3 -o testxml
clang++ $(ALLFLAGS) testspeed.cc -lmujoco.2.1.3 -o testspeed
clang++ $(ALLFLAGS) compile.cc -lmujoco.2.1.3 -o compile
clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.3 -o derivative
clang++ $(ALLFLAGS) basic.cc -lmujoco.2.1.3 -lglfw -o basic
clang++ $(ALLFLAGS) record.cc -lmujoco.2.1.3 -lglfw -o record
clang++ $(ALLFLAGS) testxml.cc -lmujoco.2.1.4 -o testxml
clang++ $(ALLFLAGS) testspeed.cc -lmujoco.2.1.4 -o testspeed
clang++ $(ALLFLAGS) compile.cc -lmujoco.2.1.4 -o compile
clang++ $(ALLFLAGS) derivative.cc -lmujoco.2.1.4 -o derivative
clang++ $(ALLFLAGS) basic.cc -lmujoco.2.1.4 -lglfw -o basic
clang++ $(ALLFLAGS) record.cc -lmujoco.2.1.4 -lglfw -o record
clang -c $(CFLAGS) uitools.c
clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.3 -lglfw -o simulate
clang++ $(ALLFLAGS) uitools.o simulate.cc -lmujoco.2.1.4 -lglfw -o simulate
rm *.o
sample/Makefile.windows
+4 -4
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@@ -9,10 +9,10 @@
COMMON=/O2 /MT /EHsc /arch:AVX /I../include /Fe../bin/
all:
cl $(COMMON) testxml.cc ../lib/mujoco_nogl.lib
cl $(COMMON) testspeed.cc ../lib/mujoco_nogl.lib
cl $(COMMON) compile.cc ../lib/mujoco_nogl.lib
cl $(COMMON) derivative.cc /openmp ../lib/mujoco_nogl.lib
cl $(COMMON) testxml.cc ../lib/mujoco.lib
cl $(COMMON) testspeed.cc ../lib/mujoco.lib
cl $(COMMON) compile.cc ../lib/mujoco.lib
cl $(COMMON) derivative.cc /openmp ../lib/mujoco.lib
cl $(COMMON) basic.cc ../lib/glfw3.lib ../lib/mujoco.lib
cl $(COMMON) record.cc ../lib/glfw3.lib ../lib/mujoco.lib
cl $(COMMON) simulate.cc uitools.c ../lib/glfw3.lib ../lib/mujoco.lib
sample/simulate.cc
+1 -1
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@@ -762,7 +762,7 @@ void makerendering(int oldstate) {
"Frame",
2,
&(vopt.frame),
"None\nBody\nGeom\nSite\nCamera\nLight\nWorld"
"None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
},
{
mjITEM_BUTTON,